WorkItem.cpp
3.61 KB
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <px4_platform_common/px4_work_queue/WorkQueue.hpp>
#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
#include <px4_platform_common/log.h>
#include <drivers/drv_hrt.h>
namespace px4
{
WorkItem::WorkItem(const char *name, const wq_config_t &config) :
_item_name(name)
{
if (!Init(config)) {
PX4_ERR("init failed");
}
}
WorkItem::WorkItem(const char *name, const WorkItem &work_item) :
_item_name(name)
{
px4::WorkQueue *wq = work_item._wq;
if ((wq != nullptr) && wq->Attach(this)) {
_wq = wq;
}
}
WorkItem::~WorkItem()
{
Deinit();
}
bool WorkItem::Init(const wq_config_t &config)
{
// clear any existing first
Deinit();
px4::WorkQueue *wq = WorkQueueFindOrCreate(config);
if ((wq != nullptr) && wq->Attach(this)) {
_wq = wq;
_time_first_run = 0;
return true;
}
PX4_ERR("%s not available", config.name);
return false;
}
void WorkItem::Deinit()
{
// remove any currently queued work
if (_wq != nullptr) {
// prevent additional insertions
px4::WorkQueue *wq_temp = _wq;
_wq = nullptr;
// remove any queued work
wq_temp->Remove(this);
wq_temp->Detach(this);
}
}
void WorkItem::ScheduleClear()
{
if (_wq != nullptr) {
_wq->Remove(this);
}
}
float WorkItem::elapsed_time() const
{
return hrt_elapsed_time(&_time_first_run) / 1e6f;
}
float WorkItem::average_rate() const
{
const float rate = _run_count / elapsed_time();
if ((_run_count > 1) && PX4_ISFINITE(rate)) {
return rate;
}
return 0.f;
}
float WorkItem::average_interval() const
{
const float rate = average_rate();
const float interval = 1e6f / rate;
if ((rate > FLT_EPSILON) && PX4_ISFINITE(interval)) {
return roundf(interval);
}
return 0.f;
}
void WorkItem::print_run_status()
{
PX4_INFO_RAW("%-26s %8.1f Hz %12.0f us\n", _item_name, (double)average_rate(), (double)average_interval());
// reset statistics
_run_count = 0;
}
} // namespace px4